Galil DMC-2010, User Manual

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Command Summary – Position Tracking Mode
COMMAND DESCRIPTION
AC n,n,n,n,n,n,n,n Acceleration settings for the specified axes
AP n,n,n,n,n,n,n,n Trip point that holds up program execution until an absolute position has been reached
DC n,n,n,n,n,n,n,n Deceleration settings for the specified axes
MF n,n,n,n,n,n,n,n Trip point to hold up program execution until n number of counts have passed in the
forward direction. Only one axis at a time may be specified.
MR n,n,n,n,n,n,n,n Trip point to hold up program execution until n number of counts have passed in the
reverse direction. Only one axis at a time may be specified.
PT n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode
PA n,n,n,n,n,n,n,n Command Used to specify the absolute position target
SP n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode
Independent Jogging
The jog mode of motion is very flexible because speed, direction and acceleration can be changed
during motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC)
rate for each axis. The direction of motion is specified by the sign of the JG parameters. When the
begin command is given (BG), the motor accelerates up to speed and continues to jog at that speed
until a new speed or stop (ST) command is issued. If the jog speed is changed during motion, the
controller will make an accelerated (or decelerated) change to the new speed.
An instant change to the motor position can be made with the use of the IP command. Upon receiving
this command, the controller commands the motor to a position which is equal to the specified
increment plus the current position. This command is useful when trying to synchronize the position
of two motors while they are moving.
Note that the controller operates as a closed-loop position controller while in the jog mode. The DMC-
2x00 converts the velocity profile into a position trajectory and a new position target is generated every
sample period. This method of control results in precise speed regulation with phase lock accuracy.
Command Summary - Jogging
COMMAND DESCRIPTION
AC A,B,C,D Specifies acceleration rate
BG ABCD
Begins motion
DC A,B,C,D Specifies deceleration rate
IP A,B,C,D Increments
position instantly
IT A,B,C,D Time constant for independent motion smoothing
JG +/-A,B,C,D Specifies jog speed and direction
ST ABCD
Stops motion
Parameters can be set with individual axes specifiers such as JGB=2000 (set jog speed for B axis to
2000).
Operand Summary - Independent Axis
OPERAND DESCRIPTION
_ACx Return acceleration rate for the axis specified by ‘x’
DMC-2X00 Chapter 6 Programming Motion
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